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Abstract:

An endoscopic instrument includes a housing having shaft extending
therefrom that defines a longitudinal axis therethrough. The shaft
includes an articulating portion disposed thereon. An end effector
assembly operatively connected to a distal end of the shaft configured to
treat tissue includes a pair of first and second jaw members. A locking
tube is coaxially disposed on the shaft is movable along the longitudinal
axis. The locking tube is movable along an outer surface of the shaft
from a retracted position such that the shaft may be articulated
transversely across the longitudinal axis, to an extended position such
that the shaft is locked in a fixed position along the longitudinal axis.

Claims:

1. An endoscopic instrument, comprising: a housing having shaft extending
therefrom that defines a longitudinal axis therethrough, the shaft
including an articulating portion disposed thereon; an end effector
assembly operatively connected to a distal end of the shaft configured
for treating tissue includes a pair of first and second jaw members; and
a locking tube coaxially disposed on the shaft and axially movable along
the longitudinal axis, the locking tube movable along an outer surface of
the shaft from a retracted position for articulating the shaft
transversely across the longitudinal axis, to an extended position for
locking the shaft in a fixed position along the longitudinal axis.

2. An endoscopic instrument according to claim 1, wherein the
articulating portion of the shaft is defined by a plurality of
articulating links that are operably coupled to a pair of articulation
dials of the endoscopic instrument via a plurality of tendons, wherein an
outer diameter of the plurality of links is cocylindrical with the shaft.

3. An endoscopic instrument according to claim 1, wherein the plurality
of articulating links collectively define a central passageway and a
plurality of radially located passageways, the central passageway
configured to receive a drive mechanism therethrough and the radially
located passageways configured to receive a corresponding tendon of the
plurality of tendons.

4. An endoscopic instrument according to claim 2, wherein when the
locking tube is in the extended position the plurality of tendons are in
an unloaded state.

5. An endoscopic instrument according to claim 2, wherein the locking
tube includes an inner diameter configured to contact the outer
circumferential surface of the shaft such that the locking tube forms a
snug fit around the shaft.

6. An endoscopic instrument according to claim 2, wherein the locking
tube is operably coupled to an actuation device operably disposed on the
housing of the endoscopic instrument.

7. An endoscopic instrument according to claim 6, wherein the actuation
device includes a slide mechanism that is operably coupled to an
elongated slot on the housing, the slide mechanism translatable within
the elongated slot from a retracted position that corresponds to the
locking tube being in the retracted position, to an extended position
that corresponds to the locking tube being in the extended position.

8. An endoscopic instrument according to claim 7, wherein the slide
mechanism is configured such that the slide mechanism remains in the
retracted and extended positions until a predetermined downward force is
applied thereto to move the slide mechanism from the retracted and
extended positions and vice versa.

9. An endoscopic instrument according to claim 1, wherein the
articulating portion of the shaft is defined by a compliant cylindrical
extrusion including multiple lumens oriented about a central lumen
coaxial with an extrusion axis.

10. An endoscopic instrument according to claim 1, wherein the compliant
cylindrical extrusion is made from plastic.

11. An endoscopic instrument according to claim 1, wherein at least one
of the first and second jaw members being movable relative to other jaw
member from an open position, wherein the first and second jaw members
are disposed in spaced relation relative to one another, to a clamping
position, wherein the first and second jaw members cooperate to grasp
tissue therebetween.

12. An endoscopic instrument, comprising: a housing having shaft
extending therefrom that defines a longitudinal axis therethrough, the
shaft including a plurality of articulating links in operable
communication with a pair of articulation dials of the endoscopic
instrument via a plurality of tendons, wherein an outer diameter of the
plurality of articulating links is cocylindrical with shaft; an end
effector assembly operatively connected to a distal end of the shaft
configured to treat tissue includes a pair of first and second jaw
members; and a locking tube coaxially supported on the shaft and
selectively movable therealong upon actuation of an actuation device
disposed on the housing, the locking tube movable along the outer surface
of the shaft from a retracted position for articulating the shaft
transversely across the longitudinal axis, to an extended position for
locking the shaft in a fixed position along the longitudinal axis.

13. An endoscopic instrument according to claim 12, wherein the plurality
of articulating links collectively define a central passageway and a
plurality of radially located passageways, the central passageway
configured to receive a drive mechanism therethrough and the radially
located passageways configured to receive a corresponding tendon of the
plurality of tendons.

14. An endoscopic instrument according to claim 12, wherein when the
locking tube is in the extended position the plurality of tendons are in
an unloaded state.

15. An endoscopic instrument according to claim 12, wherein the locking
tube includes an inner diameter configured to contact the outer
circumferential surface of the shaft such that the locking tube forms a
snug fit around the shaft.

16. An endoscopic instrument according to claim 12, wherein the actuation
device includes a slide mechanism that is operably coupled to an
elongated slot on the housing, the slide mechanism translatable within
the elongated slot from a retracted position that corresponds to the
locking tube being in the retracted position, to an extended position
that corresponds to the locking tube being in the extended position.

17. An endoscopic instrument according to claim 16, wherein the slide
mechanism is configured such that the slide mechanism remains in the
retracted and extended positions until a predetermined downward force is
applied thereto to move the slide mechanism from the retracted and
extended positions and vice versa.

18. An endoscopic instrument according to claim 11, wherein the
articulating portion of the shaft is defined by a compliant cylindrical
extrusion including multiple lumens oriented about a central lumen
coaxial with an extrusion axis.

19. An endoscopic instrument according to claim 18, wherein the compliant
cylindrical extrusion is made from plastic.

20. An endoscopic instrument according to claim 12, wherein at least one
of the first and second jaw members being movable relative to other jaw
member from an open position, wherein the first and second jaw members
are disposed in spaced relation relative to one another, to a clamping
position, wherein the first and second jaw members cooperate to grasp
tissue therebetween.

Description:

BACKGROUND

[0001] 1. Technical Field

[0002] The present disclosure relates to an articulating surgical
apparatus. More particularly, the present disclosure relates to an
articulating surgical apparatus including a locking tube configured to
lock the surgical apparatus in a non-articulated configuration.

[0003] 2. Description of Related Art

[0004] Surgical instruments that are configured to articulate or bend are
well known in the medical arts. Surgical instruments of this nature are
utilized in many surgical procedures. For example, laparoscopic,
endoscopic, or other minimally invasive surgical procedures are just a
few of the many surgical procedures where articulating surgical
instruments may find use. When utilized in such procedures, the surgical
instruments may include a housing, a handle assembly, an articulating
shaft, a device for articulating the shaft, and an end effector including
a pair of jaw members.

[0005] As can be appreciated, the relatively small operable working space
that is created within a cavity of a patient during a surgical procedure
often makes it difficult for the surgeon to position the jaw members
adjacent or close to target tissue. The articulating shaft allows a
surgeon to position the jaw members adjacent target tissue.

[0006] Various articulating devices or mechanisms may be utilized to
articulate the shaft. For example, some surgical instruments utilize one
or more articulating cables or tendons that couple to one or more
articulation links on the shaft. Typically, the cables or tendons provide
a mechanical interface from the one or more articulation links to an
actuation device, e.g., rotatable dials, disposed on the housing and/or
handle assembly of the surgical instrument such that actuation of the
actuation device moves or articulates the shaft about the articulation
links. In particular, when the cables or tendons are "pulled" or
otherwise manipulated via one or more mechanisms in the handle assembly
or the housing to articulate the shaft about the articulating links.

[0007] Under certain surgical scenarios, it may prove advantageous to
maintain the shaft in a relatively fixed or stationary position, such as,
for example, when positioning tissue between the jaw members or when the
shaft is inserted through a trocar or cannula. Locking the cables or
tendons so that the shaft is prevented from articulating typically
requires eliminating, what is commonly referred to in the art as, cable
or tendon "stretch" from the cables or tendons. Cable or tendon "stretch"
is the ability of the cable or tendon to stretch under a predetermined
load. To remove this cable or tendon stretch, the cables or tendons are
typically highly loaded in tension. Removing this cable or tendon stretch
limits and/or eliminates "post lock" articulation. However, due to the
length of the surgical instrument and, thus, the corresponding length of
the cables or tendons between the articulating links and the actuation
device and/or locking device, a fairly large "spring rate" exists with a
corresponding "stiffness" penalty being observed. That is, overtime,
subjecting the cables or tendons to high load tension reduces the
stiffness of the cables or tendons and, thus, the overall stiffness of
the shaft. As can be appreciated, reducing the "stiffness" of the shaft
may result in the shaft not functioning in a manner as intended.

SUMMARY

[0008] The present disclosure provides an endoscopic instrument. The
endoscopic instrument includes a housing having shaft extending therefrom
that defines a longitudinal axis therethrough. The shaft includes an
articulating portion disposed thereon. An end effector assembly
operatively connected to a distal end of the shaft includes a pair of
first and second jaw members. A locking tube coaxially disposed on the
shaft is movable along the longitudinal axis. The locking tube is movable
along an outer surface of the shaft from a retracted position such that
the shaft may be articulated transversely across the longitudinal axis,
to an extended position such that the shaft is locked in a fixed position
along the longitudinal axis.

[0009] In certain embodiment, one or both of the first and second jaw
members is movable relative to other jaw member from an open position,
wherein the first and second jaw members are disposed in spaced relation
relative to one another, to a clamping position, wherein the first and
second jaw members cooperate to grasp tissue therebetween.

[0010] The present disclosure provides an endoscopic instrument. The
endoscopic instrument includes a housing having shaft extending therefrom
that defines a longitudinal axis therethrough. The shaft includes a
plurality of articulating links in operable communication with a pair of
articulation dials of the endoscopic instrument via a plurality of
tendons. An outer diameter of the plurality of articulating links is
cocylindrical with shaft. An end effector assembly operatively connected
to a distal end of the shaft includes a pair of first and second jaw
members. A locking tube coaxially supported on the shaft is selectively
movable therealong upon actuation of an actuation device disposed on the
housing. The locking tube is movable along the outer surface of the shaft
from a retracted position for articulating the shaft transversely across
the longitudinal axis, to an extended position for locking the shaft in a
fixed position along the longitudinal axis.

[0011] In certain embodiment, one or both of the first and second jaw
members is movable relative to other jaw member from an open position,
wherein the first and second jaw members are disposed in spaced relation
relative to one another, to a clamping position, wherein the first and
second jaw members cooperate to grasp tissue therebetween.

BRIEF DESCRIPTION OF THE DRAWING

[0012] Various embodiments of the present disclosure are described
hereinbelow with references to the drawings, wherein:

[0013]FIG. 1 is a side, perspective view of an endoscopic instrument
showing a locking device in a retracted position according to an
embodiment of the present disclosure;

[0014]FIG. 2 is a side, perspective view of the endoscopic bipolar
forceps depicted in FIG. 1 showing the locking device in an extended
position;

[0015]FIG. 3A is a cross-sectional view taken along line segment "3A-3A"
depicted in FIG. 1;

[0016]FIG. 3B is an enlarged view of the area of detail depicted in FIG.
1;

[0017]FIG. 4 is a perspective view of an articulation mechanism according
to another embodiment of the present disclosure; and

[0018]FIG. 5 is a cross-sectional view taken along line segment "5-5"
depicted in FIG. 4.

DETAILED DESCRIPTION

[0019] Detailed embodiments of the present disclosure are disclosed
herein; however, the disclosed embodiments are merely examples of the
disclosure, which may be embodied in various forms. Therefore, specific
structural and functional details disclosed herein are not to be
interpreted as limiting, but merely as a basis for the claims and as a
representative basis for teaching one skilled in the art to variously
employ the present disclosure in virtually any appropriately detailed
structure.

[0020] With reference to FIGS. 1 and 2, an illustrative embodiment of an
articulating surgical instrument, e.g., an articulating endoscopic
instrument, such as, for example, an articulating endoscopic forceps 2
(forceps 2), is shown. As can be appreciated, other types of articulating
instruments that are configured to treat tissue may be utilized in
accordance with the present disclosure, e.g., snares, blades, loops,
endoscopes, stabilizers, retractors, etc. Forceps 2 is configured to
operatively and selectively couple to a suitable energy source, such as,
for example, an electrosurgical generator (not shown), for performing an
electrosurgical procedure. An electrosurgical procedure may include
sealing, cutting, cauterizing, coagulating, desiccating, and fulgurating
tissue all of which may employ RF and/or microwave energy. The generator
may be configured for monopolar and/or bipolar modes of operation. The
generator may include or is in operative communication with a system (not
shown) that may include one or more processors in operative communication
with one or more control modules that are executable on the processor.
The control module (not explicitly shown) may be configured to instruct
one or more modules to transmit electrosurgical energy, which may be in
the form of a wave or signal/pulse, via one or more cables (e.g., an
electrosurgical cable 3) to one or both seal plates 5, 7 disposed on
respective jaw housings 28 and 30.

[0021] Continuing with reference to FIGS. 1 and 2, forceps 2 is shown
configured for use with various electrosurgical procedures and generally
includes a housing 4, an electrosurgical cable 3 that connects the
forceps 2 to a source of electrosurgical energy, a handle assembly 6, a
rotating assembly 8, a trigger assembly 10, a drive assembly 9, and an
end effector assembly 12 that operatively connects to the drive assembly
9. The drive assembly 9 may be in operative communication with handle
assembly 6 for imparting movement of one or both of a pair of jaw members
14, 16 of end effector assembly 12.

[0023] With continued reference again to FIGS. 1 and 2, housing 4 is
illustrated. Housing 4 is accessible by a surgeon from outside a body
cavity to control the positioning, orientation and operation of the end
effector 12 when the end effector 12 is positioned inside a body cavity
at a surgical site. To provide this operability, the housing 4 supports
various components that are operable to induce or prohibit movement in
the end effector 12 through various modes. More particularly housing 4 is
configured to house or support handle assembly 6, drive assembly 9, a
pair of articulation dials 42a, 42b and an actuation device 11.

[0024] Continuing with reference to FIGS. 1 and 2, an elongated slot 13 of
suitable configuration is disposed on the housing 4. In the illustrated
embodiments, the elongated slot 13 is disposed on a left side of the
housing 4 adjacent a stationary handle 24 of the handle assembly 6.
Elongated slot 13 is configured to slidably house actuation device 11
(FIGS. 1 and 2) therein such that the actuation device 11 is actuatable
via a finger of a user. One or more detents 17a and 17b are operably
disposed at proximal and distal ends, respectively, of the elongated slot
13 and are configured to releasably engage a corresponding structure,
e.g., an indent 17c, associated with the actuation device 11 (FIG. 1).

[0025] Actuation device 11 includes a resiliently-biased slide mechanism
15 (slide mechanism 15) that is operably coupled to the elongated slot 13
on the housing 4 (FIGS. 1 and 2). The slide mechanism 15 is translatable
within the elongated slot 13 from a retracted position that corresponds
to a locking tube 19 being in the retracted position (FIG. 1), to an
extended position that corresponds to the locking tube 19 being in the
extended position (FIG. 2). A spring (not explicitly shown) may operably
couple to the slide mechanism 15 and may be configured to bias the slide
mechanism 15 in a downwardly direction to lock the slide mechanism 15 in
one or more positions within the elongated slot 13. In particular, the
spring is configured to selectively bias the slide mechanism 15 in a
downwardly direction when the slide mechanism 15 is in the retracted and
extended positions. An indent 17c (shown in phantom in FIG. 1) is defined
on a bottom surface of the slide mechanism and is configured to
releasably engage the detents at the proximal and distal ends of the
elongated slot 15. More particularly, when the sliding mechanism 15 is
moved to the retracted position, the indent 17c moves into releasable
engagement with detent 17a (FIG. 1). Likewise, when the sliding mechanism
15 is moved to the extended position, the indent 17c moves into
releasable engagement with detent 17b (FIG. 2). The indent/detent
configuration facilitates maintaining the sliding mechanism 15 in the
retracted and extended positions until a predetermined force is exerted
on the sliding mechanism 15 to move the indent 17c out of engagement with
either of the detents 17a and 17b.

[0026] Actuation mechanism 15 includes or operably couples to an actuation
rod 21 (FIGS. 1 and 2) that operably couples to the locking tube 19 via
one or more suitable coupling methods including, but not limited to
soldering, brazing, spot welding, ultrasonic welding, etc. In the
illustrated embodiment, the actuation rod 21 moves the locking tube 19
along an outer surface of a shaft 18 and over an articulation portion 23
of the shaft 18, see FIG. 2 for example.

[0027] Referring again to FIGS. 1 and 2, articulation dials 42a, 42b are
operable to pivot the distal end 20 of the elongated shaft 18 to various
articulated orientations with respect to a longitudinal axis A-A. For
example, articulation dial 42a may be rotated in the direction of arrows
"C0" to induce pivotal movement in a first plane, e.g., a vertical plane.
Similarly, articulation dial 42b may be rotated in the direction of
arrows "D0" to induce pivotal movement in a second plane, e.g., a
horizontal plane.

[0028] Continuing with reference with FIGS. 1 and 2, shaft 18 includes a
generally elongated configuration and defines a longitudinally axis "A-A"
therethrough. Shaft 18 includes the distal end 20 that is configured to
mechanically engage the end effector assembly 12 and a proximal end 22
that mechanically engages the housing 4. In the drawings and in the
descriptions that follow, the term "proximal," as is traditional, will
refer to the end of the forceps 2 that is closer to the user, while the
term "distal" will refer to the end of the forceps 2 that is farther from
the user.

[0029] An articulation portion 23 is operably disposed on or coupled to
the shaft 18 between the proximal and distal ends 20 and 22, respectively
(FIG. 1). In the embodiment illustrated in FIGS. 1-3B, the articulation
portion 23 is defined by a plurality of articulating segments or links 32
(links 32), FIGS. 1 and 3B. The links 32 is configured to pivot or
articulate the shaft 18 transversely across the longitudinal axis "A-A"
in either the horizontal or vertical plane. For illustrative purposes,
the shaft 18 is shown articulated across the horizontal plane.

[0030] Referring to FIGS. 3A and 3B, the links 32 are operably coupled to
the articulation dials 42a and 42b via a plurality of cables or tendons
34 (tendons 34). For illustrative purposes, four (4) tendons are shown
(hereinafter collectively referred to as tendons 34). The tendons 34 may
be constructed of stainless steel wire or other material suitable for
transmitting tensile forces to a distal-most link of links 32. Regardless
of the construction materials, the tendons 34 exhibit a spring rate that
is amplified over the length of the tendons 34 and thus, the tendons 34
may tend to stretch when external loads are applied to the elongated
shaft 18. This tendency to stretch may be associated with an unintended
change in orientation of the distal portion 20 of the elongated shaft 18,
e.g., without a corresponding movement of the articulation dials 42a, 42b
initiated by the surgeon.

[0031] The tendons 34 operably couple to the articulating dials 42a and
42b that are configured to actuate the tendons 34, i.e., "pull" the
tendons 34, when the articulating dials 42a and 42b are rotated. The
tendons 34 operably couple to the links 32 via one or more suitable
coupling methods. More particularly, each link of the links 32 includes
four (4) corresponding apertures 36 that are radially disposed thereon
and centrally aligned along a common axis, see FIG. 3B. The apertures 36
are configured to receive a corresponding tendon of the tendons 34
therein. A distal end of each tendon of the tendons 34 is operably
coupled to the distal most link of the links 32 by one or more suitable
coupling methods, e.g., one or more of the coupling methods described
above.

[0032] With reference again to FIG. 3A, the plurality of articulating
links 32 collectively define a central passageway 38 configured to
receive a drive mechanism, e.g., a drive rod 40 (FIGS. 1-3A),
therethrough. As can be appreciated, the configuration of the central
passageway 38 provides adequate clearance for the drive rod 40
therethrough.

[0033] To facilitate movement of the locking tube 19 along the shaft 18
including the links 32, an outer diameter of the links 32 is
cocylindrical with the shaft 18, as best seen in FIGS. 1 and 2. That is,
the outer diameter of links 32 is equal to an outer diameter of the shaft
18. In some embodiments, the outer diameter of the links 32 is less than
the outer diameter of the shaft 18.

[0034] Referring again to FIGS. 1 and 2, the locking tube 19 is
illustrated. The locking tube 19 may be made from any suitable material
including plastic, metal, etc. In the illustrated embodiment, the locking
tube 19 is made from a substantially rigid plastic. The locking tube 19
includes an inner diameter configured to contact an outer circumferential
surface of the shaft 18 such that the locking tube 19 forms a tight or
"snug" fit around the shaft 18. The locking tube 19 is supported on the
shaft 18 and extends partially along a length thereof. A proximal end of
the locking tube 19 is positioned within the housing 4 and is configured
to operably couple to the actuation rod 21. The locking tube 19 is
configured such that in the retracted position, a distal end of the
locking tube 19 does not cover any of the links of the links 32 (FIG. 1)
and, in the extended position, the distal end of the locking tube 19
covers all of the links of the links 32 (FIG. 2). As can be appreciated,
this provides maximum articulation in the retracted position and no or
minimal articulation in the extended position.

[0035] Continuing with reference to FIGS. 1 and 2, handle assembly 6
includes a fixed handle 24 and a movable handle 26. Fixed handle 24 is
integrally associated with housing 4 and movable handle 26 is movable
relative to fixed handle 24. Movable handle 26 of handle assembly 6 is
ultimately connected to the drive assembly 9, which together mechanically
cooperate to impart movement of one or both of the jaw members 14 and 16
to move from an open position (FIG. 1), wherein the jaw members 14 and 16
are disposed in spaced relation relative to one another, to a clamping or
closed position, wherein the jaw members 14 and 16 cooperate to grasp
tissue therebetween (FIG. 2).

[0036] With reference again to FIG. 1, drive assembly 9 including the
drive rod 40 are in mechanical communication with the movable handle 26.
More particularly, one or more gears, links, springs, or other
component(s) that are operably supported and/or disposed within the
housing 4 are configured to collectively provide translation of the drive
rod 40 along the longitudinal axis "A-A" and though the central
passageway 38 defined through the links 32 as a result of proximal
movement of the movable handle 26. Drive rod 40 may be made from any
suitable material, e.g., metal. In certain embodiments, it may prove
advantageous for the drive rod 40 to be relatively flexible. In this
instance, the drive rod 40 may be made from a relatively flexible
material, e.g., wire, band, cable, etc.

[0037] Jaw members 14, 16 are operatively and pivotably coupled to each
other and located adjacent the distal end 20 of shaft 18 (FIGS. 1 and 2).
For illustrative purposes, the end effector 12 is shown including a
bilateral jaw configuration, i.e., both jaw members 14 and 16 are
movable. However, the present disclosure contemplates that the end
effector 12 may include a unilateral jaw configuration, i.e., jaw member
14 is movable with respect to jaw member 16 that is non-movable or
stationary with respect to jaw member 14. Respective electrically
conductive seal plates 5 and 7 are operably supported on and secured to
jaw housings 28 and 30 of respective the jaw members 14 and 16.

[0038] In use, jaw members 14 and 16, initially, are in an open position
and the locking tube 19 is in the retracted position (FIG. 1). To
position the jaw members 14 and 16 adjacent target tissue, the
articulation dials 42a and 42b may be rotated to articulate the shaft 18
transversely across the longitudinal axis "A-A." Tissue is, subsequently,
positioned between the jaw members 14 and 16 and the movable handle 26
may be moved proximally through a clamping stroke. Thereafter, the
articulation dials 42a and 42b may be rotated to place the shaft back
in-line with the longitudinal axis "A-A." To maintain the shaft 18
in-line with the longitudinal axis "A-A," i.e., in an non-articulated
configuration, the slide mechanism 15 is moved distally within the
elongated slot 13, which, in turn, translates the locking tube 19
distally and over the articulating portion 23 of the shaft 18. The snug
fit of the locking tube 19 around the shaft 18 provides a shaft 18 that
is as stiff as the locking tube 19, which may be as stiff as a
non-articulating shaft. When the locking tube 19 is in the extended
position (FIG. 2) the plurality of tendons 34 is in an unloaded state and
is not under high tension, as is typically the case with conventional
shafts in a locked configuration. As can be appreciated, the tendons 34
retain their ability to stretch and the stiffness of the shaft 18 is not
compromised. That is, the stiffness of the shaft 18 is not dependent upon
the stiffness of the plurality of tendons 34, but rather the stiffness of
the locking tube 19.

[0039] From the foregoing and with reference to the various figure
drawings, those skilled in the art will appreciate that certain
modifications can also be made to the present disclosure without
departing from the scope of the same. For example, in one particular
embodiment, it may prove advantageous to have a shaft 118 with an
articulating portion 123 that includes a compliant cylindrical extrusion
(FIGS. 4 and 5).

[0040] The forceps 102 depicted in FIGS. 4 and 5 is substantially similar
to the forceps 2. Accordingly, only those features unique to forceps 102
are described in detail.

[0041] Unlike articulating portion 23 that includes a plurality of
articulating links 32, articulating portion 123 includes a compliant
cylindrical extrusion that is operably coupled to the shaft 118. In
certain instances, to simplify manufacture of the shaft 118, the entire
shaft 118 may be made from the compliant extrusion. In the embodiment
illustrated in FIGS. 4 and 5, the shaft 118 is made from the compliant
extrusion. An interior of the shaft 118 includes apertures or lumens 136
(FIG. 5) that are formed during the extrusion process of the shaft 118.
The lumens 136 may extend along a length of the shaft 118 such that a
desired amount of articulation may be achieved. Moreover, an interior of
the shaft defines a central lumen 138 configured to receive a drive rod
140 therethrough, see FIG. 5.

[0042] An optional second articulating portion 132 is disposed on the
shaft 118 adjacent the end effector 112 (FIGS. 4 and 5). Second
articulating portion 132 may be a compliant extrusion or may be a
plurality of articulating links. The second articulating portion 132
provides an extra degree of articulation when the locking tube 119 is in
the extended position over the articulating portion 123 of shaft 118.

[0043] A second set of tendons (not explicitly shown) is configured to
couple to the second articulation portion 132.

[0044] In a fully extended position, the locking tube 119 is covers each
of the articulating portions 123 and 132.

[0045] Use of the forceps 102 with the locking tube 119 is substantially
similar to that of forceps 2 with the locking tube 19 and as such will
not be described in greater detail.

[0046] In an alternate embodiment, the locking tubes 19, 119 (or an
extension thereof) may be configured to translate within the annulus 38,
i.e. an internal locking tube configuration. In this instance, the drive
rod 40 is positioned within the locking tubes 19, 119, which function as
described above, but for translating within the annulus 38 to maintain
the shaft 18 in-line with the longitudinal axis "A-A."

[0047] While several embodiments of the disclosure have been shown in the
drawings, it is not intended that the disclosure be limited thereto, as
it is intended that the disclosure be as broad in scope as the art will
allow and that the specification be read likewise. Therefore, the above
description should not be construed as limiting, but merely as
exemplifications of particular embodiments. Those skilled in the art will
envision other modifications within the scope and spirit of the claims
appended hereto.